Formation change for robot groups in occluded environments

@article{Hnig2016FormationCF,
  title={Formation change for robot groups in occluded environments},
  author={Wolfgang H{\"o}nig and T. K. Satish Kumar and Hang Ma and Sven Koenig and Nora Ayanian},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={4836-4842}
}
We study formation change for robot groups in known environments. We are given a team of robots partitioned into groups, where robots in the same group are interchangeable with each other. A formation specifies the locations occupied by each group. The objective is to find collision-free paths that move all robots from a given start formation to a given goal formation. Our algorithm TAPF* has the following features: (a) it incorporates kinematic constraints of robots in form of velocity limits… CONTINUE READING

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